Gyroscope



July 16, 1940.' H. ROLAND 2,207,875

' GYROSCOPE Filed Jan. 19, 1938 s sheets-sheet 1 H. ROLAND VJuly 16, 1940.

GYROSCOPE Filed Jan. 19, 193e 5 Sheets-Sheet 2 l l ...Url

`July 16, 1940. H, RQLAND 2,m7,875

- v GYRQSCOPE 1 Filed Jan. 19, 1958 3 Sheets-Sheet 3 T1916 Fgfa INV y `ATTORNEY.'

Patented July 16,1940

crnoscora Berlin-Steglitz. Germany. as-

Heinrich Boland,

PAiaN'lf. OFFICE signor to Siemens Apparate und Maschinen Gesellschaft mit beschrnkter lilaftung, Ber lin, Germany,` a corporation of Germany Application January 19, 193s, semana. 185,153 A In Germany July 3l, 1936. c

7 Claims.

matic gyro-piit for aircraft, in order to prevent the tumbling of the gyroscope when sudden changes in attitude are made. It is also often 10 necessary to clamp or establish the axes of the gyroscope mounting in order lto readjust the direction indicator. The readjustment of the direction indicator is usually accomplished by a manually operated knob which, by means of a clutch, is connected to the Cardan ring mounting of the gyroscope and adapted for moving the ring in azimuth. This azimuth adjustment must be effected when the plane of rotation of the gyroscope is perpendicular and hence when the axis of rotation is horizontal. If the axis of rotation is not horizontal, it must be made so by a suitable leveling device; l.otherwise rotation of the Cardan ring will cause tumbling of the gyro. If it is necessary to move this axis into cthe horizontal, a precessing moment will be produced which will tend to move the Cardan ring in azimuth. Therefore, in order to avoid the precessing moment, the Cardan ring must be clamped and fixed in position by the clutch means before the axis of rotation of the rotor is forced into the horizontal and thus before the plane of rotation is forced into the vertical; otherwise if clamping of the Cardan ring followed, even a short time after the erecting of a5 the plane of rotation of the rotor, the mechanism would be subjected, as above mentioned. to a disturbing-precession in azimuth which. if communicated to a gyrocontrolled mechanism, such as an automatic pilot, wouldmake excessive load demands' upon the control apparatus of the pilot and cause dangerous iiying condi' tions in addition to causing large coursedeviations.

One of the objects of the present invention is to provide novel means for establishing and adjusting the axes of a ydirectional gyroscope wherein disturbing precessiona'l moments are avoided.

Anotherobjectof the invention is to provide novel adjusting means for a directional gyroscope which are 'compact and dependable in operation.

A further object is to provide novel means for preventing a directional gyrosco'pe from 5g tumbling when sudden changes. are made in the attitude of the vehicle upon which itis mounted.

-An additional object is to provide novel means -for readjusting a'gyroscope to'a predetermined position. i

The above and further objects and advantages I will appear more fully hereafter in the detailed description which is to be read with they accompanying drawings, wherein like reference 'characters refer to like parts throughout the several views, and wherein,

Fig. l is a side elevation, partly `in section, showing one embodiment of the'invention;

Fig. 2 is a View, partly in section and partly in elevation, taken substantially on line 2--2 of Fig. 1: f l5 Fig. 2a is a view, partly in section, illustrating details of the device shown in Fig. 2;

Fig. 2b is a view similar to Fig. 2a but illustrating the parts in another position;

Fig. 2c is a view illustrating a detail of Figs. 0 2a and 2b;

Fig. 3 is an enlarged view of the axes clamping means shown partly in section and with parts broken away; Fig. 4 is a detailed view, partly in section and 25 withparts broken away, showing a portion of ghe mechanism of Fig. 3 in the operating posi- Figs. 5 and 5a. are front elevations with parts broken away, of one embodiment of the clamp- 80 ing device for the axis of rotation;

Fig. 6 is a development on an enlarged scale of a threaded vcam portion of the clamping or fixing device;

Fig. 6a is a portion of the threaded develop'- ss ment shown in Fig. 6; and,

Figs. 7a to 7i, inclusive, are developments on an enlarged scale of portions of thethreaded clamping means showing -the threads in successive operating positions.

The form of the invention illustrated in the accompanying drawings, by vway of example, is

a. device for enabling the adjustment of the directional axis of a directional gyroscope by means of clamping and rotating mechanism 45 which is adapted for operation in such a manner that the tumbling of the gyroscope and disturbing precessional moments are avoided. 'I'he claimping or fixing and adjusting' means aire constituted by a plunger mechanism which actu- 50l ates cam means which, in turn, operates first a clutch which engages the Cardan ring mounting, and second a cam and detent device for moving the axis of rotationinto the horizontal,

if necessary, thus erecting the plane of rotation be vproduced if the sequence of operation called for first leveling the horizontal axis by said detent device. The operation of the plunger engages a second .clutch which is adapted. l10n rotation o f the plunger shaft, by means of a worm and wheel, to rotate the lCardan ring for azimuth readjustment.

`In the form illustrated in Fig.` 1, a gyroscope is mounted in the conventional manner and is adapted to act,-for example, as a direction indicator. The gyroscope 8 having, a rotating shaft 8a. is mounted in ia housing 9 which, in turn, by means of a horizontal shaft I0 is mounted upon a Cardan ring Il. The Cardan ring is mounted by means of a vertical shaft I2, I2' upon a frame member I3. The vertical shaft I2 inthe embodiment- .shown serves as the directional shaft and, therefore.. is adapted for controlling a compass rose or other suitable direction indi-` cating means.'V

-Novel means are provided for controlling the axes of the groscope mounting comprising a cone clutching device for the Cardan ring and hence the vertical axis, and a cam and detent mechanism for the horizontal 'shaft and hence ythe axis of rotation. The latter mechanism is such. that the cone clutch acting uponl the Cardan rihg is engaged before the action of the cam and detentupon the horizontal shaft. This sequence is necessary in order to avoid the disturbing precession which would be produced if the plane of rotation were erected first.

The clutching means for the Cardan ring isl constituted by the frustro-conical member Il attached to said ring and by a clutch crown I5 which is keyed by keying means I6a (see Fig. 3) within a worm wheel I6 and adapted for longi-v tudinal movement relative thereto. The worm wheel I6 is rotatably mountedupon the frame l member I3 and meshes with a worm II. In a manner to more fully appear hereinafter'the worm IIfis rotated, and, by means of the wheel I6 and vclutch crown I5, turns the Cardan ring and thus enables the adjustment of the directional. axis of the apparatus. f o

The novel cam means for controlling the ring and shaft clamping mechanism is constituted by a cylindrical two-part member I8, the outer surface of the outer member ofv which is provided with a series of slanting threads which, as above mentioned, act as cams. Ihe outer member is shrink tted to the inner member thereby lforming the two-part cylinder. member I8. 'I'he camcylinder I8 is rotatably mounted upon the framemember I3 but is not longitudinally displaceable relative thereto. The inner portion of the two-part cam cylinder I4 is provided with an inwardly extending flange portion 50 resting between a cover plate 5I and a member 52 resting upon the supporting member Ist. A spacer washer 53, of substantially the same width as the flange of the cylinder is provided between the cover plate 5I and the member 52. The cover plate 5I, spacer washer 5,3, and member 52, are secured to the supporting member by. suitable means such as screw,` Ils. '111e cam i I9b which rests upon an inner annular 'lip I5a asoman cylinder Il, as willl be readily apparent, is mounted for rotation about the boss Iu and its rotation about the latter is guided by the ange 50 disposed within the space formed between the cover plate 5I and the member 52 at the outer periphery of the spacer washer 53. There are two fleldsofthreads or camsupon two-part member I9. i. e., fields Ii and I2, as shown in Fig. 6. The former governs the cone clutch I4, I5 for the Cardan ring II and the latter controls in a manner to be later explained the cam and detent device which acts upon the horizontal shaft III.v

Means are provided for interconnecting the vcam field-I1 of cam cylinder I8 and the cone clutch I4, I5 comprising a ring I9 with spaced teeth I9a upon the inner periphery thereof which act as cam followers upon cam threads I8a and Ib. Ring I9 is provided with an annular flange In order to facilitate the above-mentioned l cam' action between cylinder I8 and ring I9, means are provided to prevent the `'rotation of said ring but to permit the longitudinal displacement thereof, comprising hollow pins which are attached to the frame I3 at 120 intervals be` .heath ring I9 and extend through suitable openings insaid ring. It is seen that flange I9b is above lip I5a. Itis, therefore, necessary to have l some means for holding or thrusting said lip` Aupwardly into contact with the flange I9b in order to insure that cam cylinder I8 controls the clutch crown I5.. These means are constituted by two bushings 2l and 22 for each pin provided at the upper ends thereof with annular flanges 2Ia andv 22a, respectively. 'The bushings are fitted upon the hollow pins 20. A spring 23 yieldingly separates the bushings and resiliently urges bushing 22 against lip I5a which, in turn, is urged against the annular ange I9b.

In order to enable the cam follower I9 uponA 'the upward motion thereof to lift the lower bushing 2I, a fork member I9c attached to member I9 is provided for each of said bushings and is adapted for engagingthe lower surface of the bushing ange 2Ia.

In the form shown in Fig. 3, the cam cylinder I8 and follower I9 are in the low or disconnected position, i. e., the follower ring I9 has disengaged clutch I4, I5. 'I'he spaced teeth I9a of' the follower are here held between an annular ring 18e. of the cylinder I8 and the cam threads I8a,v I8b. l The follower teeth are resiliently urged upwardly by means of the spring 23 which, through bushing 22 and inner llip I5a, thrusts upwardly against the Aflange I9b to which are attached said teeth. A development or unwrapping of the cam cylinder on an enlarged scale is shown in Fig. 6 wherein appears the relative for the horizontal axis is alsovshown and will 70 hereinafter be fully explained.4

In the inoperative or disengaged position, the cam followers and cam threads lhave the relative positions as shown in Fig. '1a. Here the follower. I9a. as labove mentioned, is resiliently 7:5

urged upwardly against thread I8b by means of the spring 28. If the cam cylinder I8 is rotated as set out in detail later to the right in the direction of the arrow, the resulting relative vposition after a short angularA displacement is shown in Fig. '7b wherein the follower I9a has become located in the position between the threads Ila and |8b and upon further rotation of said cylinder, the follower will be forced, by the cam action of the threads, upward until the position shown in Fig. 7c is reached.

During the above-described operation, the cam following ring I9 was progressively urged upwardly, thus allowing spring 23 to act through bushing 22 and to displace longitudinally lip I5a and thus clutch crown I5. This initial displace- 1 ment, however, is effective for a distance equal to only a fraction of the thickness of the cam threads and is not sulcient to cause engagement of the clutch I4, I5. Further displacement of the clutch does not occur until thecylinder I8 is again' rotated and the lower bushing 2| is entrained by the fork connection- I9c of ring` I9. 'I'he lifting of this vlower bushing will longitudinally displace the spring 22, the upper bushing 22, and hence the clutch crown I through inner lip I5a which clutch crown will engage the frustro-conical portion I4 and will clamp`the same in position. The engagement of clutch I4, I5 occurs prior to the termination of the upward motion of the cam follower ring I9. Therefore.'l the follower ring I9 is lifted above the inner lip I5a since crown I5 does not participate in the last part of the upward stroke of the follower. The resulting position is shown in Fig. 4 wherein /the spring 23 in tending to separate the two bushings 2I and 22 has the double effect of hold. ing clutch I4, I5 in the engaged position and of resiliently thrusting cam follower ring I9 downward in such a manner that, as shown in Fig. 7d, the tooth I9a and the thread I8a are in yielding contact. Further rotation of the cam cylinder will cause tooth I9a to slide over I8a until it clears the same, whereby upon continued rotation of I8 as shown b y the arrows, the cam action of teeth I8b allows tooth lila to assume the position shown in Fig. '11. The latter shows, for a purpose to more fully appear hereafter,r the limit of angular displacement of said cam cylinder. A

The disengagement of clutch I4, I5 is effected by a reverse rotation of cylinder I8 which will cause a reversal of the procedure outlined above except that tooth I9a is caused to descend on the opposite side of thread |861r between the adjacent thread I8b. The successive positions are illustrated in Figs. 7g to 7i, inclusive. Further angular displacement causes the moving parts to regain the position shown in Fig. '1a.

Novel means are provided for erecting, if necessary, the` plane of rotation of the rotor and leveling the axis of rotation and there retaining said plane and axis comprising a plate cam 24 attached to the horizontal shaft I0,- as illustrated in Fig. 5. At the central portion of cam 24 there is provided an indentation or notch 24a suitable for the retention of a cam follower 25 which acts as a detent and is attached to an arm 28 which is pivotally mounted upon Cardanfring' Il by means of a1 pin 21. The arm 26 is confined to pivotal motion in a single plane and is held in tent follower 25 is in the notch 24a, the plane of rotation of the gyroscope is vertical and the axis of rotation is horizontal. If said plane of rotation is not in the vertical, the plate cam 24 will not be centralized and an upward swing of arm 26 will cause follower 25 to seek the notch 24a and thus to erect the plane of rotation.

Means f are provided for moving arm 28 in proper relation to the movement of clutch crown I5 comprising cam field Izof cam cylinder. I8 as shown in Fig. 6. Field I2 communicates its motion to arm 28 by means of a second annular cam follower 28 having an annular iangel por- The cam threads of seid l2 (Fig. s) which' control the movements of the arm 26 are constituted by adjacent double slanting thread portions I8d and I8e. It is to be noted that these two threads are formed from a single slanting thread vby milling away the hatched portions, as illustrated in Fig. 6a. It also is to be noted, as above mentioned, that the cam follower teeth I9a and 28b are not adapted for relative rotation but only for relative longitudinal displacement.

As above set forth, it is necessary that the Cardan ring be engaged or clamped prior to the leveling of the axis of rotation of the gyroscope. Therefore, the phase relation of the two sets of teeth following the cam thread elds I1 and I2 must be such that follower I9 is rst entrained and upwardly displaced. This is accomplished `by adjusting said phase relation so that a gap horizontal axis. The cam follower teeth 28h correspond in thickness to the cam threads I8e and I8d. The initial position is shown in Fig. 7a

wherein the right flanks of teeth 28h rest against 'to take the positions shown in Figs. 7b to 7e, in-

clusive. In Fig. 7e, tooth 28h has arrived at the position of maximum longitudinal displacement and the horizontal axis is here leveled. In order untary reversal of the process so far completed, the cylinderal is rotated an added small amount which causes follower 28h to rest upon the upper ledge of thread I 8e. This is effected without additional longitudinal displacement and is represented in Fig. 7j, wherein the left flank of tooth 28h rests against the right flank of cam thread I8d and the final rotation in this direction is reached.

The cam threads of elds I i and Iz are so disposed that upon a reverse rotation of cylinder I8.

lto prevent the spring 21a from causing an involthe cam followers descend simultaneously and thus release the gyroscope axes at the same time. The positions taken by the cam threads and followers upon reverse rotation are shown in Figs. 'f to 7i, inclusive. It is seen in Fig. '1f that a gap |8g exists between tooth 28h and thread I8d. The position of the descending passage for tooth |9a between threads I8b and Isa must be located such that when the gap I8g has been traversed, by tooth 28h the tooth I9a will be at the upper mouth of said passage. Thus, downward displacement of teeth |9a and 28h will occur simultaneously as shown in Figs. '7g to 7i, inclusive.

Novel rreans are provided for rotating cam cylinder I8 to the operative position and immediately thereafter for engaging a small clutch which permits the rotation of worm -I1 and hence the azimuth adjustment of the vertical axis I2 of the gyroscope mounting. The means are 'constituted by a plunger 3| which is rotatably mounted upon frame I3 and passes through a hollow shaft 32 upon which is mounted the worm I1. Plunger 3| is provided with a handle 3Ia. Shaft 32, in turn, is mounted upon bearing blocks 33. Rotation of plunger 3| is communicated to shaft 32 by means of a clutch constituted by a cone member 34 upon plunger 3| and a clutch rim 35 upon the hollow shaft 32. An arm 3Ic pivotally mounted upon a pin I8' of cylinder I8 is also pivotally mounted by means of a pin 3|b upon plunger 3| and is adapted for causing said cylinder to rotate when the plunger is longitudinally displaced. The pin 3Ib is attached to a bushing 36 (see Figs. 2a, 2b, and 2c) which accompanies the longitudinal motion of the plunger 3| due to rings 36a and 36h but does not rotate therewith. A tumbling switch acts to hold plunger 3| firmly at the two end positions and is constituted by a double forked lever 31 provided with slots 31a, one end of which lever rides on :pin 3Ib and the other end termi ating in flange38, said lever 31 being mounted or oscillation about pin 39 located in slot 31a. Pin 39 is mounted upon arm 39a attached to frame I3. A rod 40 is carried by flange 38. A coil spring 4I is held upon rod 40 by means of a flange 42 forming part of the double forked lever 42a. 'I'herefore, movement of plunger 3| for example to the right as seen in Figs. 2 and 2a,l will compress spring 4| until the mid-point of the displacement is reached. Extension of the spring occurs thereafter see Fig. 2b and insures the full longitudinal displacement of said plunger.

In order to allow the rotation of worm I1 only when in the operative position, cone member 34 is so positioned upon p'lunger 3| that engagement of member 34 with clutch rim 35 occurs only when said plunger is withdrawn to the position of maximum displacement.

In operation, should it be necessary to establish the axes of the gyroscope in order to make an azimuth adjustment or to execute some sudden change in attitude of the vehicle, the plunger 3| by means of handle 3|a is`withdrawn or pulled outwardly, The spring loaded tumbling switch 31 at the outset resists the withdrawal 'until the mid-point of the displacement is reached when extension of spring 4I assists the movement and thrusts the plunger to the new position. This longitudinal displacement vof the plunger is communicated to cam cylinder I8 by erate the cam and detent mechanism 24, 25, 2B. Thus, rotation of the Cardan ring is prevented about the vertical axis and the axis of rotation is leveled. The small clutch 34, 35 is inally engaged when the-plunger is fully withdrawn. Rotation of handle 3|a will now adjust the directional axis of the gyroscope by means of clutch 34, 35, worm and wheel I1, I6 and clutch I4, I5. Upon the return'movement of the plunger, first the clutch 34, 35 is disengaged and immediately thereafter, a simultaneous release of' the Cardan g ring and vleveling means occurs in the manner above set forth. The uncoupling of clutch 34, 35 prior to this release prevents an azimuth adjustment when said axes are not iixed.

. There is thus provided a novel device for controlling the axes of a gyroscope which may be used for adjusting a directional gyroscope in azimuth. It is so constructed that tumbling or wandering of the vgyroscope is prevented while the adjustment is being made. It is positive in operation, ruggedly constructed with a minimum of working parts and is easy to operate. 'I'he mechanism may be installed within a small space and is light in weight.

Although only one embodiment of the invention has been illustrated and describedin detail, it is to be expressly understood that the invention is not limited thereto. Various changes may also bemade in the design and arrangement of the parts illustrated without departing from the spirit and scope of the invention, as thev same will now be understood by those skilled in the art. For a definition of thelimits of theinpivotally mounted upon saidA Cardan ring, a cam follower upon said arm, a cam mountedupon thehorizontal shaft of said suspension, means forl causing said rst-named cam to move said arm to cause said follower to engage said .camafter the engagement of said clutch, said first-named cam adapted for simultaneously releasing' said clutch and ar'm, and means operable after the engagement of said cam and follower for rotating said clutch.

2. In apparatus for controlling the rotation of a gyroscope mounting about the vertical axis thereof and for leveling the axis of rotation of said gyroscope, clutch means for clamping said mounting, a rotatable element, cam means on said element, a follower, means resiliently urging said clutch means, said follower and said cam means into contacting relation, means for rotating said rotatable element whereby said cam means move said follower and said resilient means moves said clutch, means operative upon further rotaton of said rotatable element whereby said resilient means additionally moves said clutch to clamp said mounting, and a second cam means on said element, means cooperating with said second cam means whereby said axis of rotation is leveled, said second cam means being located in such phased relation with respect to said rst cam means that saidr leveling occurs only after said clamping.

3. I n apparatus for controlling the rotation of a gyroscope mounting about the vertical axis thereof and for leveling the axis of rotation of 4 said gyroscopeaa rotatable element co-axial with ring uponfurther rotation of said cam.

said vertical axis of suspension, means reciprocallyoperable for' rotating said element, snap- `action means cooperating with said reciprocat-v ing element to retain the same in either limit of itsmovement, camA means on said element, follower means axially movable uponl rotation of said element and cam means, means operable upon said axial movement to clamp said mounting, and a second cam means on said element,v

means axially movable upon rotation oi' said element and said second cam means, and means movable upon said axial movement to level the l vaxis of rotation of said gyroscope.

4. In a device of the character described, a gyroscope having a Cardan ring suspension, a

, cam rotatable about an axis coaxial with the vertical axis of suspension of said Cardan ring, a cam follower, a clutch, and resiliently operated means `between said follower and said clutch,

cluding said spaced cam means operable upon\ rotation of said rotatable means for sequentially -locking said gyro about itsl vertical axis and leveling said gyro about its horizontal `axis and means operable upon reverse rotation of said rotatable means ior simultaneously releasing said locking and leveling means.

6.*In a device of the character described, a gyro having a Cardan ring suspension, clutch means for locking said ring about its vertical v axis, a follower, cam means mounted for rotation about an axis coaxial with the vertical axis loi' suspension of said gyro, said cam means comprising a series voi'` spaced, inclined elements, an inclined element on said follower, means resiliently urging said follower element andtsai'd cam elements into Aoperative relation, means operable upon rotaton of said cam means whereby said inf clineii elements coact to move said follower axially, and means operative upon said axial movement moving saidclutch into locking engagement with said ring.`Yl

7. In a device of the character described, a

`gyroscope having a Cardan ring suspension, a

cam mounted coaxially with the vertical axis of said suspension, a pivoted arm, a follower, means on said follower and cam whereby said vfollower is moved axially upon rotation of said cam, and means connecting said follower and pivoted arm whereby axial movement of said follower levels said gyro about its horizontal axis.

. HEINRICH ROLAND. 

